公开(公告)号：US08724922B2

公开(公告)日：2014-05-13

申请号：US13035567

申请日：2011-02-25

申请人： Tsuyoshi Minakawa ,  Tatsuzo Hamada

发明人： Tsuyoshi Minakawa ,  Tatsuzo Hamada

IPC分类号： G06K9/40 ,  H04N7/00

CPC分类号： G06T3/0018 ,  G06T5/006

摘要： An image correcting device includes an image input section, an image storage section, a correction table storage section, a geometry correcting section for geometrically correcting an input image stored in the image storage section, based on a correction table, and an image output section for output of the input image corrected by the geometry correcting section, wherein the correction table is created by calculating longitudes and latitudes that correspond to respective pixel positions on an output image that becomes the corrected image; calculating corrected latitudes through correction of the latitudes, based on the longitudes and the latitudes; calculating light directions in a subject space, the light directions corresponding to the longitudes and the corrected latitudes; and calculating positions on the input image as resampling positions, the positions corresponding to the respective light directions; and associating the resampling positions with the pixel positions on the output image.

摘要翻译： 图像校正装置包括图像输入部，图像存储部，校正表存储部，基于校正表对存储在图像存储部中的输入图像进行几何校正的几何校正部，以及用于 输出由几何校正部分校正的输入图像，其中通过计算与成为校正图像的输出图像上的各个像素位置对应的经度和纬度来创建校正表; 根据纬度和纬度，通过校正纬度来计算校正纬度; 计算被摄体空间中的光方向，对应于经度和校正纬度的光方向; 以及计算输入图像上的位置作为重采样位置，对应于各光方向的位置; 并且将重采样位置与输出图像上的像素位置相关联。

公开(公告)号：US08571345B2

公开(公告)日：2013-10-29

申请号：US13245451

申请日：2011-09-26

申请人： Tsuyoshi Minakawa ,  Tatsuzo Hamada

发明人： Tsuyoshi Minakawa ,  Tatsuzo Hamada

IPC分类号： G06K9/40 ,  G06K9/36

CPC分类号： G06T3/0018 ,  G06T5/006

摘要： An image correction device geometrically corrects an input image, based on the correction table, which is generated by obtaining a light-direction vector in an objective space corresponding to each pixel position on a corrected image, based on a first projection center located on the rear side of a second projection center as the projection center of the input image in the objective space with respect to the direction of an optical axis corresponding to the input image, obtaining from the light-direction vector an origin-based light-direction vector indicating a direction from the second projection center in which a point corresponding to each pixel position exists in the objective space, exacting a position on the input image corresponding to the origin-based light-direction vector, and recording in the correction table the resampling position in correspondence with each pixel position in the corrected image.

摘要翻译： 图像校正装置基于通过基于位于后方的第一投影中心获得与校正图像上的每个像素位置相对应的目标空间中的光方向向量而生成的校正表来几何校正输入图像 将第二投影中心的相对于与输入图像对应的光轴的方向的投影图像的投影中心作为投影图像的投影中心，从光方向矢量获得表示原色的光方向矢量 来自第二投影中心的方向，其中在目标空间中存在与每个像素位置相对应的点，强制对应于基于原点的光方向矢量的输入图像上的位置，并且在校正表中记录对应的重采样位置 每个像素位置在校正图像中。

公开(公告)号：US20120051661A1

公开(公告)日：2012-03-01

申请号：US13035567

申请日：2011-02-25

申请人： Tsuyoshi Minakawa ,  Tatsuzo Hamada

发明人： Tsuyoshi Minakawa ,  Tatsuzo Hamada

IPC分类号： G06T5/00

CPC分类号： G06T3/0018 ,  G06T5/006

摘要： An image correcting device includes an image input section, an image storage section, a correction table storage section, a geometry correcting section for geometrically correcting an input image stored in the image storage section, based on a correction table, and an image output section for output of the input image corrected by the geometry correcting section, wherein the correction table is created by calculating longitudes and latitudes that correspond to respective pixel positions on an output image that becomes the corrected image; calculating corrected latitudes through correction of the latitudes, based on the longitudes and the latitudes; calculating light directions in a subject space, the light directions corresponding to the longitudes and the corrected latitudes; and calculating positions on the input image as resampling positions, the positions corresponding to the respective light directions; and associating the resampling positions with the pixel positions on the output image.

摘要翻译： 图像校正装置包括图像输入部，图像存储部，校正表存储部，基于校正表对存储在图像存储部中的输入图像进行几何校正的几何校正部，以及用于 输出由几何校正部分校正的输入图像，其中通过计算与成为校正图像的输出图像上的各个像素位置对应的经度和纬度来创建校正表; 根据纬度和纬度，通过校正纬度来计算校正纬度; 计算被摄体空间中的光方向，对应于经度和校正纬度的光方向; 以及计算输入图像上的位置作为重采样位置，对应于各光方向的位置; 并且将重采样位置与输出图像上的像素位置相关联。

公开(公告)号：US08630506B2

公开(公告)日：2014-01-14

申请号：US13035537

申请日：2011-02-25

申请人： Tsuyoshi Minakawa ,  Tatsuzo Hamada

发明人： Tsuyoshi Minakawa ,  Tatsuzo Hamada

IPC分类号： G06K9/40 ,  H04N7/00

CPC分类号： G06T3/0062 ,  G06T3/0018

摘要： An image correcting device includes an image input section, image storage section, correction table storage section, geometry correcting section subjecting an input image to geometrical correction based on a correction table, and image output section outputting the input image as a corrected image. The table is created by: calculating a pair of angles (θ, φ) corresponding to each pixel position on the output image as the corrected image; calculating a light direction based on an intersection line between a plane obtained by rotating a YZ plane by angle θ about Y axis and that by rotating an XZ plane by angle φ about X axis, in three dimensional Cartesian coordinate system with origin at a projection center of the input image; calculating a position on the input image corresponding to the light direction, as a resampling position; and associating the resampling position with the pixel position on the output image.

摘要翻译： 图像校正装置包括图像输入部，图像存储部，校正表存储部，基于校正表对输入图像进行几何校正的几何校正部，以及输出图像作为校正图像的图像输出部。 该表是通过以下方式创建的：计算对应于输出图像上的每个像素位置的一对角度（θ，phi）作为校正图像; 基于YZ平面通过将Y轴旋转角度θ与Y轴旋转XZ平面所获得的平面之间的交线，计算光线方向，在原点处于投影中心的三维笛卡尔坐标系中 的输入图像; 计算与光方向对应的输入图像上的位置作为重采样位置; 并且将重采样位置与输出图像上的像素位置相关联。

公开(公告)号：US07990415B2

公开(公告)日：2011-08-02

申请号：US11396641

申请日：2006-04-04

申请人： Kosei Matsumoto ,  Toshio Moriya ,  Tsuyoshi Minakawa

发明人： Kosei Matsumoto ,  Toshio Moriya ,  Tsuyoshi Minakawa

IPC分类号： H04N7/18

CPC分类号： G01C15/004 ,  G01C25/00 ,  G01S7/497 ,  G01S17/023

摘要： Provided is an image input device which includes a laser range finder and a camera, and is capable of automatically calibrating the laser range finder and the camera at an appropriate timing without using special equipment. The image input device includes the laser range finder which measures distance information of an object by using invisible light and the camera which measures color information of the object. In order to detect a calibration error between the laser range finder and the camera, an invisible light filter which blocks visible light and transmits invisible light is automatically attached to a lens of the camera by a switching operation between two kinds of lenses. By the camera to which the invisible light filter is being attached, a pattern of the invisible light projected onto the object from the laser range finder is photographed as a visible image. By the comparison between the thus obtained invisible light pattern image and a reference image, the calibration error between the laser range finder and the camera is calculated. When the calibration error exceeds a predetermined value, a relative position and a relative posture between the laser range finder and the camera are automatically calibrated by control of a platform or the like.

摘要翻译： 提供了一种包括激光测距仪和照相机的图像输入装置，并且能够在不使用特殊设备的情况下在适当的时间自动校准激光测距仪和照相机。 图像输入装置包括通过使用不可见光测量对象的距离信息的激光测距仪和测量对象的颜色信息的摄像机。 为了检测激光测距仪和相机之间的校准误差，通过两种透镜之间的切换操作自动地将阻挡可见光和透射不可见光的不可见光滤光器附接到相机的透镜。 通过安装有不可见光滤光器的相机，将从激光测距仪投影到物体上的不可见光的图案被拍摄为可视图像。 通过这样获得的不可见光图案图像与参考图像之间的比较，计算出激光测距仪和相机之间的校准误差。 当校准误差超过预定值时，通过平台等的控制来自动校准激光测距仪和摄像机之间的相对位置和相对姿态。

公开(公告)号：US20060132916A1

公开(公告)日：2006-06-22

申请号：US11286195

申请日：2005-11-22

申请人： Michio Oikawa ,  Takafumi Koike ,  Tsuyoshi Minakawa ,  Masami Yamasaki ,  Hideyuki Sakai

发明人： Michio Oikawa ,  Takafumi Koike ,  Tsuyoshi Minakawa ,  Masami Yamasaki ,  Hideyuki Sakai

IPC分类号： G02B27/22

CPC分类号： G02B27/2214 ,  H04N13/305 ,  H04N13/327

摘要： In a stereoscopic display system, comprising a display and a lens array, it is difficult to manufacture the lens array with lens spacing at high accuracy as designed, and it is also difficult to attain high installation accuracy when the display and the lens array are combined together. An image of a stereoscopic display 27 with a display 1 and a lens array 2 integrated with each other is taken by a camera 3, and a positional relation of each pixel of the display 1 and each lens center of the lens array 2 is determined by a measuring system 4. Based on the matching positional relation information of the lenses and the pixels thus acquired, a stereoscopic image generating/outputting system 12 generates a stereoscopic image and supplies the image to the stereoscopic display 27.

摘要翻译： 在包括显示器和透镜阵列的立体显示系统中，难以以设计的高精度制造具有透镜间隔的透镜阵列，并且当显示器和透镜阵列组合时也难以获得高的安装精度 一起。 相机3拍摄具有显示器1和透镜阵列2的立体显示器27的图像，并且通过相机3拍摄显示器1的每个像素和透镜阵列2的每个透镜中心的位置关系，由 测量系统4。 基于这样获得的透镜和像素的匹配位置关系信息，立体图像生成/输出系统12产生立体图像并将图像提供给立体显示器27。

公开(公告)号：US08942464B2

公开(公告)日：2015-01-27

申请号：US13700018

申请日：2011-03-28

申请人： Takuma Shibahara ,  Tsuyoshi Minakawa ,  Michio Oikawa ,  Yutaka Hojo ,  Hitoshi Sugahara ,  Hiroyuki Shindo

发明人： Takuma Shibahara ,  Tsuyoshi Minakawa ,  Michio Oikawa ,  Yutaka Hojo ,  Hitoshi Sugahara ,  Hiroyuki Shindo

IPC分类号： G06T7/00 ,  G01B21/20 ,  H01J37/22 ,  H01J37/28 ,  H01L21/66

CPC分类号： G06T7/0004 ,  G01B21/20 ,  G06T7/0006 ,  G06T2207/10061 ,  G06T2207/30148 ,  H01J37/222 ,  H01J37/28 ,  H01J2237/24578 ,  H01J2237/24592 ,  H01L22/12 ,  H01L2924/0002 ,  H01L2924/00

摘要： The present invention provides a pattern measuring apparatus (600) that: acquires the image contour of a circuit pattern formed by transferring design data; classifies the acquired image contour into shape structures; calculates normal vectors for each shape structure; maps the shape structures to the image contour; uses at least one normal direction for each shape structure to stabilize the normal directions to the image contour; and uses the normal vectors for each shape structure to determine the position of a SEM contour.

摘要翻译： 本发明提供一种图形测量装置（600），其获取通过传送设计数据形成的电路图案的图像轮廓; 将获取的图像轮廓分类为形状结构; 计算每个形状结构的法向矢量; 将形状结构映射到图像轮廓; 对于每个形状结构使用至少一个法线方向来稳定图像轮廓的法线方向; 并使用每个形状结构的法向量来确定SEM轮廓的位置。

公开(公告)号：US20130223723A1

公开(公告)日：2013-08-29

申请号：US13700018

申请日：2011-03-28

申请人： Takuma Shibahara ,  Tsuyoshi Minakawa ,  Michio Oikawa ,  Yutaka Hojo ,  Hitoshi Sugahara ,  Hiroyuki Shindo

发明人： Takuma Shibahara ,  Tsuyoshi Minakawa ,  Michio Oikawa ,  Yutaka Hojo ,  Hitoshi Sugahara ,  Hiroyuki Shindo

IPC分类号： G06T7/00

CPC分类号： G06T7/0004 ,  G01B21/20 ,  G06T7/0006 ,  G06T2207/10061 ,  G06T2207/30148 ,  H01J37/222 ,  H01J37/28 ,  H01J2237/24578 ,  H01J2237/24592 ,  H01L22/12 ,  H01L2924/0002 ,  H01L2924/00

摘要： The present invention provides a pattern measuring apparatus (600) that: acquires the image contour of a circuit pattern formed by transferring design data; classifies the acquired image contour into shape structures; calculates normal vectors for each shape structure; maps the shape structures to the image contour; uses at least one normal direction for each shape structure to stabilize the normal directions to the image contour; and uses the normal vectors for each shape structure to determine the position of a SEM contour.

摘要翻译： 本发明提供一种图形测量装置（600），其获取通过传送设计数据形成的电路图案的图像轮廓; 将获取的图像轮廓分类为形状结构; 计算每个形状结构的法向矢量; 将形状结构映射到图像轮廓; 对于每个形状结构使用至少一个法线方向来稳定图像轮廓的法线方向; 并使用每个形状结构的法向量来确定SEM轮廓的位置。

公开(公告)号：US07583307B2

公开(公告)日：2009-09-01

申请号：US11286195

申请日：2005-11-22

申请人： Michio Oikawa ,  Takafumi Koike ,  Tsuyoshi Minakawa ,  Masami Yamasaki ,  Hideyuki Sakai

发明人： Michio Oikawa ,  Takafumi Koike ,  Tsuyoshi Minakawa ,  Masami Yamasaki ,  Hideyuki Sakai

IPC分类号： H04N5/222

CPC分类号： G02B27/2214 ,  H04N13/305 ,  H04N13/327

摘要： In a stereoscopic display system, comprising a display and a lens array, it is difficult to manufacture the lens array with lens spacing at high accuracy as designed, and it is also difficult to attain high installation accuracy when the display and the lens array are combined together.An image of a stereoscopic display 27 with a display 1 and a lens array 2 integrated with each other is taken by a camera 3, and a positional relation of each pixel of the display 1 and each lens center of the lens array 2 is determined by a measuring system 4. Based on the matching positional relation information of the lenses and the pixels thus acquired, a stereoscopic image generating/outputting system 12 generates a stereoscopic image and supplies the image to the stereoscopic display 27.

摘要翻译： 在包括显示器和透镜阵列的立体显示系统中，难以以设计的高精度制造具有透镜间隔的透镜阵列，并且当显示器和透镜阵列组合时也难以获得高的安装精度 一起。 相机3拍摄具有显示器1和透镜阵列2的立体显示器27的图像，并且通过相机3拍摄显示器1的每个像素和透镜阵列2的每个透镜中心的位置关系，由 测量系统4.立体图像生成/输出系统12基于透镜的匹配位置关系信息和如此获取的像素，生成立体图像并将图像提供给立体显示器27。

公开(公告)号：US20070047940A1

公开(公告)日：2007-03-01

申请号：US11396641

申请日：2006-04-04

申请人： Kosei Matsumoto ,  Toshio Moriya ,  Tsuyoshi Minakawa

发明人： Kosei Matsumoto ,  Toshio Moriya ,  Tsuyoshi Minakawa

IPC分类号： G03B13/00

CPC分类号： G01C15/004 ,  G01C25/00 ,  G01S7/497 ,  G01S17/023

摘要： Provided is an image input device which includes a laser range finder and a camera, and is capable of automatically calibrating the laser range finder and the camera at an appropriate timing without using special equipment. The image input device includes the laser range finder which measures distance information of an object by using invisible light and the camera which measures color information of the object. In order to detect a calibration error between the laser range finder and the camera, an invisible light filter which blocks visible light and transmits invisible light is automatically attached to a lens of the camera by a switching operation between two kinds of lenses. By the camera to which the invisible light filter is being attached, a pattern of the invisible light projected onto the object from the laser range finder is photographed as a visible image. By the comparison between the thus obtained invisible light pattern image and a reference image, the calibration error between the laser range finder and the camera is calculated. When the calibration error exceeds a predetermined value, a relative position and a relative posture between the laser range finder and the camera are automatically calibrated by control of a platform or the like.

摘要翻译： 提供了一种包括激光测距仪和照相机的图像输入装置，并且能够在不使用特殊设备的情况下在适当的时间自动校准激光测距仪和照相机。 图像输入装置包括通过使用不可见光测量对象的距离信息的激光测距仪和测量对象的颜色信息的摄像机。 为了检测激光测距仪和相机之间的校准误差，通过两种透镜之间的切换操作自动将阻挡可见光和透射不可见光的不可见光滤光器附接到相机的透镜。 通过安装有不可见光滤光器的相机，将从激光测距仪投射到物体上的不可见光的图案被拍摄为可视图像。 通过这样获得的不可见光图案图像与参考图像之间的比较，计算出激光测距仪和相机之间的校准误差。 当校准误差超过预定值时，通过平台等的控制来自动校准激光测距仪和摄像机之间的相对位置和相对姿态。